WO2024090490A1 - Hole inspection system - Google Patents
Hole inspection system Download PDFInfo
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- WO2024090490A1 WO2024090490A1 PCT/JP2023/038583 JP2023038583W WO2024090490A1 WO 2024090490 A1 WO2024090490 A1 WO 2024090490A1 JP 2023038583 W JP2023038583 W JP 2023038583W WO 2024090490 A1 WO2024090490 A1 WO 2024090490A1
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- camera
- robot
- inspection
- control device
- hole
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- 238000007689 inspection Methods 0.000 title claims abstract description 143
- 238000003384 imaging method Methods 0.000 claims abstract description 67
- 230000005540 biological transmission Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 238000013528 artificial neural network Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
Definitions
- This disclosure relates to a hole inspection system used to inspect the inside of a hole formed in a workpiece.
- the tool held by the robot may need to be replaced midway through the process. In such cases, it is necessary to avoid stopping the inspection work midway due to the need to replace the tool.
- the primary objective of this disclosure is to provide a hole inspection system that can prevent inspection work from being stopped midway due to replacement of a tool held by a robot when inspecting the inside of a hole formed in a workpiece using the robot.
- the hole inspection system disclosed herein is a hole inspection system used to inspect the inside of a hole formed in a workpiece, and includes a robot capable of holding any one of a plurality of tools including an imaging tool having a camera, a robot control device that controls the robot to hold any one of the plurality of tools, and outputs a trigger signal when the tool is located at an inspection work position, and an inspection processing device that executes a program for inspecting the inside of the hole based on an image of the inside of the hole captured by the camera, and determines whether the camera is connected and whether the trigger signal is being output by the robot control device, and transmits an imaging command signal to the camera when the camera is connected and the trigger signal is being output by the robot control device, and does not transmit the imaging command signal when the camera is not connected.
- the hole inspection system disclosed herein is used for inspecting the inside of a hole formed in a workpiece, and includes a robot capable of holding any one of a plurality of tools including an imaging tool having a camera, a robot control device that controls the robot to hold any one of the plurality of tools, and an inspection processing device that executes a program for inspecting the inside of the hole based on an image of the inside of the hole captured by the camera.
- the robot control device outputs a trigger signal when the tool is located at the inspection work position.
- the inspection processing device determines whether the camera is connected or not, and determines whether a trigger signal is output by the robot control device.
- the inspection processing device transmits an imaging command signal to the camera when the camera is connected and a trigger signal is output by the robot control device, and does not transmit the imaging command signal when the camera is not connected.
- the imaging command signal is no longer transmitted. Therefore, an error state in which the inside of the hole is not captured by the camera in response to the transmission of the imaging command signal does not occur, and the hole inspection system is not stopped due to the occurrence of the error state.
- FIG. 1 is a schematic configuration diagram showing a hole inspection system according to the present disclosure.
- 4 is a flowchart illustrating an example of an inspection routine executed by an inspection processing device of the hole inspection system of the present disclosure.
- 13 is a flowchart illustrating another example of an inspection routine executed by the inspection processing device of the hole inspection system of the present disclosure.
- FIG. 1 is a schematic diagram showing a hole inspection system 1 of the present disclosure.
- the hole inspection system 1 shown in the figure is used to inspect the inside of a hole H formed in a workpiece W, such as a transmission case.
- the hole H to be inspected may be a threaded hole, a non-threaded hole, a through hole, or a non-through hole.
- the workpiece W is not limited to a transmission case.
- the hole inspection system 1 includes a system control device 2, multiple robots 3, multiple robot control devices 4 each connected to the system control device 2 and controlling the corresponding robot 3, and an inspection processing device 5 connected to the system control device 2.
- the system control device 2 includes a computer having a CPU, ROM, RAM, etc., and exchanges signals (information) with the multiple robot control devices 4 and the inspection processing device 5 to provide overall control of the hole inspection system 1.
- Each robot 3 is a robot arm that can selectively hold and move one of a plurality of tools T (end effectors).
- the plurality of tools T held by the robot 3 include, for example, an imaging tool 6 having a camera 6a and a lens unit 6b, and a lighting tool 7.
- the tool holding portion of each robot 3 is connected to the system control device 2 via a cable and a connector, and when one of the tools T is held by the tool holding portion of each robot 3, a short-circuit current flows through the cable.
- the imaging tool 6 may have a lighting function.
- Each robot control device 4 includes a computer having a CPU, ROM, RAM, etc., and controls the robot 3 to hold one of a plurality of tools T (end effectors).
- each robot control device 4 controls the corresponding robot 3 to move the tool T to an inspection work position a predetermined distance above the target hole H according to a predetermined control procedure, and constantly transmits a trigger signal to the system control device 2 while the tool T is stopped at the inspection work position by the robot 3.
- the inspection processing device 5 is a computer having a CPU, ROM, RAM, etc.
- the camera 6a of the imaging tool 6 is connected to the inspection processing device 5 via a connector, cable, etc. provided on the robot 3.
- an inspection program is installed in the inspection processing device 5 for inspecting the internal state of the hole H based on an image (image data) of the inside of the hole H captured by the camera 6a.
- the inspection program (software) implements a neural network that cooperates with hardware such as the CPU, ROM, and RAM of the inspection processing device 5 to determine (diagnose) whether the internal state of the hole H is good or bad based on the image captured by the camera 6a.
- the inspection processing device 5 constantly sends a signal indicating that the inspection program is running to the system control device 2.
- the system control device 2 can detect that one of the tools T is being held by the tool holding part of each robot 3 by detecting a short circuit current flowing through the above-mentioned cable or the like connected to the tool holding part of each robot 3.
- Each robot control device 4 constantly transmits a trigger signal to the system control device 2 while the corresponding robot 3 stops the tool T at the inspection work position.
- the inspection processing device 5 constantly transmits a signal indicating that the inspection program is being started to the system control device 2 while the inspection program is being started.
- system control device 2 When the system control device 2 detects that the tool T is being held by the tool holding parts of all the robots 3 while the inspection program is being started in the inspection processing device 5 and receives trigger signals from all the robot control devices 4, it transmits an imaging trigger signal to the inspection processing device 5 to instruct the imaging tool 6 (tool T) held by the robot 3 to capture an image of the inside of the hole H.
- the inspection processing device 5 acquires a signal from the system control device 2 at predetermined time intervals (step S100) and determines whether an imaging trigger signal has been received (step S110). When the inspection processing device 5 determines that an imaging trigger signal has not been received from the system control device 2 (step S110: NO), it temporarily terminates the inspection routine in FIG. 2. When the inspection processing device 5 determines that an imaging trigger signal has been received from the system control device 2 (step S110: YES), it sets the repetition variable i to "1" (step S120) and determines whether the tool T held by the first robot 3 is an imaging tool 6 and the camera 6a is connected to the inspection processing device 5 (step S130). In step S130, for example, when the camera 6a is connected to the inspection processing device 5, the inspection processing device 5 determines whether an ON signal is transmitted from the camera 6a.
- the inspection processing device 5 When the inspection processing device 5 receives an ON signal from the camera 6a and determines that the tool T held by the first robot 3, i.e., the camera 6a of the imaging tool 6, is connected (step S130: YES), it transmits an imaging command signal to the camera 6a (step S140). On the other hand, when it does not receive an ON signal from the camera 6a and determines that the tool T held by the first robot 3 is not an imaging tool 6 and the camera 6a is not connected (step S130: NO), the inspection processing device 5 skips the processing of step S140. After the processing of step S130 or S140, the inspection processing device 5 determines whether the repetition variable i is equal to or greater than the total number N of the robots 3 (step S150). If the repetition variable i is less than the total number N of the robots 3 (step S150: NO), the inspection processing device 5 increments the repetition variable i (step S155) and executes the processing of steps S130-S150 for the i-th robot 3.
- the inspection processing device 5 acquires image data transmitted from the camera 6a that has captured an image of the inside of the hole H in response to the imaging command signal, and stores the acquired image data in a storage device (not shown) (step S160). Furthermore, the inspection processing device 5 executes the above-mentioned inspection program, and judges (diagnoses) whether the internal condition of all holes H in one workpiece W is good or bad based on the acquired image data (step S170), and temporarily terminates the inspection routine shown in FIG. 2.
- each robot control device 4 of the hole inspection system 1 outputs a trigger signal when the tool T held by the corresponding robot 3 is located at the inspection work position.
- the system control device 2 transmits an imaging trigger signal to instruct the inspection processing device 5 to capture an image of the inside of the hole H.
- the inspection processing device 5 determines whether or not the system control device 2 has instructed the imaging of an image via the imaging trigger signal, that is, whether or not a trigger signal has been output by each robot control device 4 (step S110), and determines for each robot device 3 whether or not a camera 6a is connected (step S130).
- the inspection processing device 5 transmits an imaging command signal to the camera 6a (steps S110: YES, S130: YES, S140), and does not transmit an imaging command signal when the camera 6a is not connected (step S130: NO).
- FIG. 3 is a flowchart showing another inspection routine that can be executed by the inspection processing device 5 of the hole inspection system 1.
- the inspection processing device 5 sets the repetition variable i to "1" (step S200) and determines whether the tool T held by the first robot 3 is an imaging tool 6 and the camera 6a is connected to the inspection processing device 5 (step S210). If the inspection processing device 5 determines that the tool T held by the first robot 3, i.e., the camera 6a of the imaging tool 6, is connected based on, for example, an ON signal from the camera 6a (step S210: YES), it determines whether an imaging trigger signal has been received from the system control device 2 (step S220).
- step S220 determines that it has not received an imaging trigger signal from the system control device 2 (step S220: NO), it executes the process of step S210 again. If the inspection processing device 5 determines that it has received an imaging trigger signal from the system control device 2 (step S210: YES), it transmits an imaging command signal to the tool T held by the first robot 3, i.e., the camera 6a of the imaging tool 6 (step S230). Furthermore, the inspection processing device 5 acquires image data transmitted from the camera 6a that has captured an image of the inside of the hole H in response to the imaging command signal, and stores the acquired image data in a storage device not shown (step S240).
- the inspection processing device 5 determines whether the repetition variable i is equal to or greater than the total number N of robots 3 (step S250). If the repetition variable i is less than the total number N of robots 3 (step S250: NO), the inspection processing device 5 increments the repetition variable i (step S255) and executes the processing of steps S210-S240 for the i-th robot 3.
- the inspection processing device 5 executes the above-mentioned inspection program, and determines (diagnoses) the quality of the internal condition of all holes H in one workpiece W based on the image data acquired in step S240 (step S260), and ends the inspection routine shown in FIG. 3.
- the hole inspection system 1 includes multiple robots 3, and the inspection processing device 5 determines whether or not a camera 6a is connected to each of the multiple robots 3, but the hole inspection system 1 is not limited to this. That is, the hole inspection system 1 may each include a single robot 3 and robot control device 4. The hole inspection system 1 may also include a work moving mechanism (not shown) that moves the work W so that the tool T is positioned at an inspection work position above the hole H.
- system control device 2 may be configured to transmit an imaging trigger signal to the inspection processing device 5 when it receives a trigger signal from all the robot control devices 4, regardless of whether the tool T is held by the tool holding unit of each robot 3 when the inspection program is activated in the inspection processing device 5.
- the system control device 2 may also be configured to obtain, for example, the value of a flag set to "1" by the inspection processing device 5 when the inspection program is activated, from the inspection processing device 5, and determine whether the inspection program is activated based on the value of the flag.
- the system control device 2 may also be configured to set the imaging instruction flag to "1" when it detects that the tool T is held by the tool holding unit of all the robots 3 and receives a trigger signal from all the robot control devices 4.
- the inspection processing device 5 may be configured to obtain the value of the imaging instruction flag set by the system control device 2 and determine whether imaging of the inside of the hole H has been instructed.
- the inspection processing device 5 may also be configured to constantly determine whether the tool T held by each robot 3 is an imaging tool 6 and the camera 6a is connected to the inspection processing device 5, and transmit an imaging command signal to the camera 6a based on the determination result when imaging of an image is instructed by the system control device 2.
- the hole inspection system disclosed herein is a hole inspection system (1) used for inspecting the inside of a hole (H) formed in a workpiece (W), and includes a robot (3) capable of holding any one of a plurality of tools (T) including an imaging tool (6) having a camera (6a), a robot control device (4) that controls the robot (3) to hold any one of the plurality of tools (T), the robot control device (4) outputting a trigger signal when the tool (T) is located at an inspection work position, and an inspection device (4) that executes a program for inspecting the inside of the hole (H) based on an image of the inside of the hole (H) captured by the camera (6a).
- a robot (3) capable of holding any one of a plurality of tools (T) including an imaging tool (6) having a camera (6a)
- a robot control device (4) that controls the robot (3) to hold any one of the plurality of tools (T)
- the robot control device (4) outputting a trigger signal when the tool (T) is located at an inspection work position
- the inspection processing device (5) determines whether the camera (6a) is connected and whether the trigger signal is being output by the robot control device (steps S110, S130, S210, S220), and transmits an imaging command signal to the camera when the camera is connected and the trigger signal is being output by the robot control device (steps S110: YES, S130: YES, S140, S210: YES, S220: YES, S230), and does not transmit the imaging command signal when the camera is not connected (steps S130: NO, S210: NO).
- the hole inspection system disclosed herein is used for inspecting the inside of a hole formed in a workpiece, and includes a robot capable of holding any one of a plurality of tools including an imaging tool having a camera, a robot control device that controls the robot to hold any one of the plurality of tools, and an inspection processing device that executes a program for inspecting the inside of the hole based on an image of the inside of the hole captured by the camera.
- the robot control device outputs a trigger signal when the tool is located at the inspection work position.
- the inspection processing device determines whether the camera is connected or not, and determines whether a trigger signal is output by the robot control device.
- the inspection processing device transmits an imaging command signal to the camera when the camera is connected and a trigger signal is output by the robot control device, and does not transmit the imaging command signal when the camera is not connected.
- the imaging command signal is no longer transmitted. Therefore, an error state in which the inside of the hole is not captured by the camera in response to the transmission of the imaging command signal does not occur, and the hole inspection system is not stopped due to the occurrence of the error state.
- the hole inspection system (1) may also include a system control device (2) connected to the robot control device (4) and the inspection processing device (5), and the system control device (2) may instruct the inspection processing device (5) to capture the image when the program is running in the inspection processing device (5) and the trigger signal is received from the robot control device (4), and the inspection processing device (5) may determine whether the camera (6a) is connected and whether the system control device (2) has instructed it to capture the image (steps S110, S130, S210, S220), and transmit the image capture command signal to the camera when the camera is connected and the system control device has instructed it to capture the image (steps S110: YES, S130: YES, S140, S210: YES, S220: YES, S230).
- system control device (2) may be capable of detecting that the tool (T) is being held by the robot (3), and may instruct the inspection processing device (5) to capture the image when it detects that the tool (T) is being held by the robot (3) and receives the trigger signal from the robot control device (4).
- the hole inspection system (1) may also include a plurality of the robots (3), and the inspection processing device (5) may determine whether or not the camera (6a) is connected to each of the plurality of the robots (3).
- the disclosed invention is extremely useful for inspecting the inside of holes formed in workpieces in the manufacturing industry.
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Abstract
A hole inspection system of the present disclosure comprises: a robot capable of holding one of a plurality of tools including an imaging tool having a camera; a robot control device that outputs a trigger signal when the tool is positioned in an inspection work position; and an inspection processing device that determines whether the camera is connected and whether the trigger signal is being output from the robot control device, the inspection processing device transmitting an imaging instruction signal to the camera if the camera is connected and the trigger signal is being output from the robot control device, and not transmitting the imaging instruction signal if the camera is not connected. This makes it possible to suppress interruption of an inspection work due to replacement of the tool being held by the robot when the inside of a hole formed in a workpiece is inspected by means of the robot.
Description
本開示は、ワークに形成された穴の内部の検査に用いられる穴検査システムに関する。
This disclosure relates to a hole inspection system used to inspect the inside of a hole formed in a workpiece.
従来、それぞれ走行台車に搭載された複数のロボットをワークの搬送に追従させながら互いに協働して当該ワークに所定の作業を施すように制御するロボット制御システムが知られている（例えば、特許文献１参照）。このロボット制御システムは、複数のロボットの何れかが故障した場合に、故障したロボットを他の正常なロボットと共にワークに対する追従動作のみを継続するように制御し、故障したロボットによるその他の動作を停止する。これにより、１台のロボットの故障に起因したシステム全体の停止が回避される。
Conventionally, there is known a robot control system that controls multiple robots, each mounted on a traveling carriage, to follow the transport of a workpiece and work together to perform a specified task on the workpiece (see, for example, Patent Document 1). When one of the multiple robots breaks down, this robot control system controls the broken robot so that it continues only the workpiece-following operation together with the other functioning robots, and stops other operations by the broken robot. This prevents the entire system from stopping due to the failure of one robot.
ところで、ロボットを用いてワークに形成された穴の内部を検査する際には、ロボットにより保持されるツールを途中で交換することがある。このような場合、ツールの交換によって検査作業が途中で停止されてしまうのを回避しなければならない。
When using a robot to inspect the inside of a hole formed in a workpiece, the tool held by the robot may need to be replaced midway through the process. In such cases, it is necessary to avoid stopping the inspection work midway due to the need to replace the tool.
そこで、本開示は、ロボットを用いてワークに形成された穴の内部を検査する際に、ロボットにより保持されるツールの交換によって検査作業が途中で停止されてしまうのを抑制することができる穴検査システムの提供を主目的とする。
The primary objective of this disclosure is to provide a hole inspection system that can prevent inspection work from being stopped midway due to replacement of a tool held by a robot when inspecting the inside of a hole formed in a workpiece using the robot.
本開示の穴検査システムは、ワークに形成された穴の内部の検査に用いられる穴検査システムであって、カメラを有する撮像ツールを含む複数のツールの何れか１つを保持することができるロボットと、前記複数のツールの何れか１つを保持するように前記ロボットを制御するロボット制御装置であって、前記ツールが検査作業位置に位置しているときにトリガ信号を出力するロボット制御装置と、前記カメラにより撮像された前記穴の内部の画像に基づいて前記穴の内部を検査するためのプログラムを実行する検査処理装置であって、前記カメラが接続されているか否かを判定すると共に、前記ロボット制御装置により前記トリガ信号が出力されているか否かを判定し、前記カメラが接続されており、かつ前記ロボット制御装置により前記トリガ信号が出力されているときに前記カメラに撮像指令信号を送信し、前記カメラが接続されていないときに前記撮像指令信号を送信しない検査処理装置とを含むものである。
The hole inspection system disclosed herein is a hole inspection system used to inspect the inside of a hole formed in a workpiece, and includes a robot capable of holding any one of a plurality of tools including an imaging tool having a camera, a robot control device that controls the robot to hold any one of the plurality of tools, and outputs a trigger signal when the tool is located at an inspection work position, and an inspection processing device that executes a program for inspecting the inside of the hole based on an image of the inside of the hole captured by the camera, and determines whether the camera is connected and whether the trigger signal is being output by the robot control device, and transmits an imaging command signal to the camera when the camera is connected and the trigger signal is being output by the robot control device, and does not transmit the imaging command signal when the camera is not connected.
本開示の穴検査システムは、ワークに形成された穴の内部の検査に用いられるものであり、カメラを有する撮像ツールを含む複数のツールの何れか１つを保持することができるロボットと、複数のツールの何れか１つを保持するようにロボットを制御するロボット制御装置と、カメラにより撮像された穴の内部の画像に基づいて内部を検査するためのプログラムを実行する検査処理装置とを含む。また、ロボット制御装置は、ツールが検査作業位置に位置しているときにトリガ信号を出力する。更に、検査処理装置は、カメラが接続されているか否かを判定すると共に、ロボット制御装置によりトリガ信号が出力されているか否かを判定する。そして、検査処理装置は、カメラが接続されており、かつロボット制御装置によりトリガ信号が出力されているときにカメラに撮像指令信号を送信し、カメラが接続されていないときに撮像指令信号を送信しない。これにより、ロボットにより撮像ツールが保持されなくなって検査処理装置とカメラとの接続が解除されると、撮像指令信号が送信されなくなる。従って、撮像指令信号の送信に応じてカメラにより穴の内部が撮像されないエラー状態を生じることがなくなるので、当該エラー状態の発生により穴検査システムが停止されることはない。この結果、ロボットを用いてワークに形成された穴の内部を検査する際に、ロボットにより保持されるツールの交換によって検査作業が途中で停止されてしまうのを抑制することが可能になる。
The hole inspection system disclosed herein is used for inspecting the inside of a hole formed in a workpiece, and includes a robot capable of holding any one of a plurality of tools including an imaging tool having a camera, a robot control device that controls the robot to hold any one of the plurality of tools, and an inspection processing device that executes a program for inspecting the inside of the hole based on an image of the inside of the hole captured by the camera. The robot control device outputs a trigger signal when the tool is located at the inspection work position. Furthermore, the inspection processing device determines whether the camera is connected or not, and determines whether a trigger signal is output by the robot control device. The inspection processing device transmits an imaging command signal to the camera when the camera is connected and a trigger signal is output by the robot control device, and does not transmit the imaging command signal when the camera is not connected. As a result, when the imaging tool is no longer held by the robot and the connection between the inspection processing device and the camera is released, the imaging command signal is no longer transmitted. Therefore, an error state in which the inside of the hole is not captured by the camera in response to the transmission of the imaging command signal does not occur, and the hole inspection system is not stopped due to the occurrence of the error state. As a result, when using a robot to inspect the inside of a hole formed in a workpiece, it is possible to prevent the inspection work from being stopped midway due to replacement of the tool held by the robot.
次に、図面を参照しながら、本開示の発明を実施するための形態について説明する。
Next, the form for implementing the disclosed invention will be explained with reference to the drawings.
図１は、本開示の穴検査システム１を示す概略構成図である。同図に示す穴検査システム１は、例えば変速機のケースといったワークＷに形成された穴Ｈの内部の検査に用いられるものである。検査対象としての穴Ｈは、ねじ穴であってもよく、非ねじ穴であってもよく、貫通穴であってもよく、非貫通穴であってもよい。また、ワークＷは、変速機のケースに限られるものではない。
FIG. 1 is a schematic diagram showing a hole inspection system 1 of the present disclosure. The hole inspection system 1 shown in the figure is used to inspect the inside of a hole H formed in a workpiece W, such as a transmission case. The hole H to be inspected may be a threaded hole, a non-threaded hole, a through hole, or a non-through hole. Furthermore, the workpiece W is not limited to a transmission case.
穴検査システム１は、図１に示すように、システム制御装置２と、複数のロボット３と、それぞれシステム制御装置２に接続されると共に対応するロボット３を制御する複数のロボット制御装置４と、システム制御装置２に接続される検査処理装置５とを含む。システム制御装置２は、ＣＰＵ，ＲＯＭ，ＲＡＭ等を有するコンピュータを含むものであり、複数のロボット制御装置４および検査処理装置５と信号（情報）をやり取りして穴検査システム１を統括的に制御する。
As shown in FIG. 1, the hole inspection system 1 includes a system control device 2, multiple robots 3, multiple robot control devices 4 each connected to the system control device 2 and controlling the corresponding robot 3, and an inspection processing device 5 connected to the system control device 2. The system control device 2 includes a computer having a CPU, ROM, RAM, etc., and exchanges signals (information) with the multiple robot control devices 4 and the inspection processing device 5 to provide overall control of the hole inspection system 1.
各ロボット３は、それぞれ複数のツールＴ（エンドエフェクタ）の何れか１つを選択的に保持して移動させることができるロボットアームである。ロボット３により保持される複数のツールＴには、例えば、カメラ６ａおよびレンズユニット６ｂを有する撮像ツール６や、照明ツール７等が含まれる。また、各ロボット３のツール保持部は、ケーブルおよびコネクタを介してシステム制御装置２に接続され、各ロボット３のツール保持部により何れか１つのツールＴが保持されると、当該ケーブル等には短絡電流が流れる。なお、撮像ツール６は、照明機能を有するものであってもよい。また、各ロボット制御装置４は、ＣＰＵ，ＲＯＭ，ＲＡＭ等を有するコンピュータを含むものであり、複数のツールＴ（エンドエフェクタ）の何れか１つを保持するようにロボット３を制御する。更に、各ロボット制御装置４は、予め定められた制御手順に従って、ツールＴを対象となる穴Ｈの所定距離だけ上方の検査作業位置まで移動させるように対応するロボット３を制御し、当該ツールＴがロボット３により検査作業位置で停止させられている間、システム制御装置２にトリガ信号を常時送信する。
Each robot 3 is a robot arm that can selectively hold and move one of a plurality of tools T (end effectors). The plurality of tools T held by the robot 3 include, for example, an imaging tool 6 having a camera 6a and a lens unit 6b, and a lighting tool 7. The tool holding portion of each robot 3 is connected to the system control device 2 via a cable and a connector, and when one of the tools T is held by the tool holding portion of each robot 3, a short-circuit current flows through the cable. The imaging tool 6 may have a lighting function. Each robot control device 4 includes a computer having a CPU, ROM, RAM, etc., and controls the robot 3 to hold one of a plurality of tools T (end effectors). Furthermore, each robot control device 4 controls the corresponding robot 3 to move the tool T to an inspection work position a predetermined distance above the target hole H according to a predetermined control procedure, and constantly transmits a trigger signal to the system control device 2 while the tool T is stopped at the inspection work position by the robot 3.
検査処理装置５は、ＣＰＵ，ＲＯＭ，ＲＡＭ等を有するコンピュータである。ロボット３により撮像ツール６が保持された際、検査処理装置５には、ロボット３に設けられたコネクタやケーブル等を介して撮像ツール６のカメラ６ａが接続される。更に、検査処理装置５には、カメラ６ａにより撮像された穴Ｈの内部の画像（画像データ）に基づいて当該内部の状態を検査するための検査プログラムがインストールされている。検査プログラム（ソフトウェア）は、検査処理装置５のＣＰＵやＲＯＭ、ＲＡＭといったハードウェアと協働して、例えば、カメラ６ａにより撮像された画像に基づいて穴Ｈの内部の状態の良否を判定（診断）するニューラルネットワークを実装するものである。また、検査処理装置５は、検査プログラムが起動されている間、当該検査プログラムが起動されていることを示す信号をシステム制御装置２に常時送信する。
The inspection processing device 5 is a computer having a CPU, ROM, RAM, etc. When the imaging tool 6 is held by the robot 3, the camera 6a of the imaging tool 6 is connected to the inspection processing device 5 via a connector, cable, etc. provided on the robot 3. Furthermore, an inspection program is installed in the inspection processing device 5 for inspecting the internal state of the hole H based on an image (image data) of the inside of the hole H captured by the camera 6a. The inspection program (software) implements a neural network that cooperates with hardware such as the CPU, ROM, and RAM of the inspection processing device 5 to determine (diagnose) whether the internal state of the hole H is good or bad based on the image captured by the camera 6a. Furthermore, while the inspection program is running, the inspection processing device 5 constantly sends a signal indicating that the inspection program is running to the system control device 2.
穴検査システム１において、システム制御装置２は、各ロボット３のツール保持部に接続された上記ケーブル等を流れる短絡電流を検出することにより、各ロボット３のツール保持部により何れか１つのツールＴが保持されたことを検知可能である。また、各ロボット制御装置４は、対応するロボット３によりツールＴが検査作業位置で停止させられている間、システム制御装置２にトリガ信号を常時送信する。更に、検査処理装置５は、検査プログラムが起動されている間、当該検査プログラムが起動されていることを示す信号をシステム制御装置２に常時送信する。また、システム制御装置２は、検査処理装置５において検査プログラムが起動された状態で、すべてのロボット３のツール保持部によりツールＴが保持されたことを検知し、かつすべてのロボット制御装置４からトリガ信号を受信したときに、ロボット３により保持された撮像ツール６（ツールＴ）に穴Ｈの内部の画像の撮像を指示するために検査処理装置５に撮像トリガ信号を送信する。
In the hole inspection system 1, the system control device 2 can detect that one of the tools T is being held by the tool holding part of each robot 3 by detecting a short circuit current flowing through the above-mentioned cable or the like connected to the tool holding part of each robot 3. Each robot control device 4 constantly transmits a trigger signal to the system control device 2 while the corresponding robot 3 stops the tool T at the inspection work position. Furthermore, the inspection processing device 5 constantly transmits a signal indicating that the inspection program is being started to the system control device 2 while the inspection program is being started. When the system control device 2 detects that the tool T is being held by the tool holding parts of all the robots 3 while the inspection program is being started in the inspection processing device 5 and receives trigger signals from all the robot control devices 4, it transmits an imaging trigger signal to the inspection processing device 5 to instruct the imaging tool 6 (tool T) held by the robot 3 to capture an image of the inside of the hole H.
続いて、図２を参照しながら、穴検査システム１の検査処理装置５により実行される検査ルーチンについて説明する。
Next, with reference to Figure 2, we will explain the inspection routine executed by the inspection processing device 5 of the hole inspection system 1.
図２に示すように、検査処理装置５は、所定時間おきにシステム制御装置２からの信号を取得し（ステップＳ１００）、撮像トリガ信号を受信したか否かを判定する（ステップＳ１１０）。検査処理装置５は、システム制御装置２から撮像トリガ信号を受信していないと判定した場合（ステップＳ１１０：ＮＯ）、図２の検査ルーチンを一旦終了させる。また、検査処理装置５は、システム制御装置２から撮像トリガ信号を受信したと判定した場合（ステップＳ１１０：ＹＥＳ）、繰り返し変数ｉを“１”に設定し（ステップＳ１２０）、１番目のロボット３により保持されたツールＴが撮像ツール６であってカメラ６ａが当該検査処理装置５に接続されているか否かを判定する（ステップＳ１３０）。ステップＳ１３０において、検査処理装置５は、例えば、当該検査処理装置５にカメラ６ａが接続されている場合に当該カメラ６ａから送信されるＯＮ信号の有無を判定する。
2, the inspection processing device 5 acquires a signal from the system control device 2 at predetermined time intervals (step S100) and determines whether an imaging trigger signal has been received (step S110). When the inspection processing device 5 determines that an imaging trigger signal has not been received from the system control device 2 (step S110: NO), it temporarily terminates the inspection routine in FIG. 2. When the inspection processing device 5 determines that an imaging trigger signal has been received from the system control device 2 (step S110: YES), it sets the repetition variable i to "1" (step S120) and determines whether the tool T held by the first robot 3 is an imaging tool 6 and the camera 6a is connected to the inspection processing device 5 (step S130). In step S130, for example, when the camera 6a is connected to the inspection processing device 5, the inspection processing device 5 determines whether an ON signal is transmitted from the camera 6a.
検査処理装置５は、カメラ６ａからのＯＮ信号を受信して１番目のロボット３により保持されたツールＴすなわち撮像ツール６のカメラ６ａが接続されていると判定した場合（ステップＳ１３０：ＹＥＳ）、当該カメラ６ａに撮像指令信号を送信する（ステップＳ１４０）。これに対して、カメラ６ａからのＯＮ信号を受信せず、１番目のロボット３により保持されたツールＴが撮像ツール６ではなくカメラ６ａが接続されていないと判定した場合（ステップＳ１３０：ＮＯ）、検査処理装置５は、ステップＳ１４０の処理をスキップする。ステップＳ１３０またはＳ１４０の処理の後、検査処理装置５は、繰り返し変数ｉがロボット３の総数Ｎ以上であるか否かを判定する（ステップＳ１５０）。繰り返し変数ｉがロボット３の総数Ｎ未満である場合（ステップＳ１５０：ＮＯ）、検査処理装置５は、繰り返し変数ｉをインクリメントした上で（ステップＳ１５５）、ｉ番目のロボット３についてステップＳ１３０－Ｓ１５０の処理を実行する。
When the inspection processing device 5 receives an ON signal from the camera 6a and determines that the tool T held by the first robot 3, i.e., the camera 6a of the imaging tool 6, is connected (step S130: YES), it transmits an imaging command signal to the camera 6a (step S140). On the other hand, when it does not receive an ON signal from the camera 6a and determines that the tool T held by the first robot 3 is not an imaging tool 6 and the camera 6a is not connected (step S130: NO), the inspection processing device 5 skips the processing of step S140. After the processing of step S130 or S140, the inspection processing device 5 determines whether the repetition variable i is equal to or greater than the total number N of the robots 3 (step S150). If the repetition variable i is less than the total number N of the robots 3 (step S150: NO), the inspection processing device 5 increments the repetition variable i (step S155) and executes the processing of steps S130-S150 for the i-th robot 3.
また、繰り返し変数ｉがロボット３の総数Ｎ以上になった場合（ステップＳ１５０：ＹＥＳ）、検査処理装置５は、撮像指令信号に応じて穴Ｈの内部を撮像したカメラ６ａから送信される画像データを取得し、取得した画像データを図示しない記憶装置に記憶させる（ステップＳ１６０）。更に、検査処理装置５は、上記検査プログラムを実行し、取得した画像データに基づいて１つのワークＷにおけるすべての穴Ｈの内部の状態の良否を判定（診断）し（ステップＳ１７０）、図２に示す検査ルーチンを一旦終了させる。
Also, if the repetition variable i becomes equal to or greater than the total number N of robots 3 (step S150: YES), the inspection processing device 5 acquires image data transmitted from the camera 6a that has captured an image of the inside of the hole H in response to the imaging command signal, and stores the acquired image data in a storage device (not shown) (step S160). Furthermore, the inspection processing device 5 executes the above-mentioned inspection program, and judges (diagnoses) whether the internal condition of all holes H in one workpiece W is good or bad based on the acquired image data (step S170), and temporarily terminates the inspection routine shown in FIG. 2.
上述のように、穴検査システム１の各ロボット制御装置４は、対応するロボット３により保持されたツールＴが検査作業位置に位置しているときにトリガ信号を出力する。また、システム制御装置２は、検査処理装置５で検査プログラムが起動されており、かつ、すべてのロボット制御装置４からトリガ信号を受信しているときに、検査処理装置５に穴Ｈの内部の画像の撮像を指示するために撮像トリガ信号を送信する。更に、検査処理装置５は、システム制御装置２により撮像トリガ信号を介して画像の撮像が指示されているか否か、すなわち各ロボット制御装置４によりトリガ信号が出力されているか否かを判定する（ステップＳ１１０）と共に、カメラ６ａが接続されているか否かをロボット装置３ごとに判定する（ステップＳ１３０）。そして、検査処理装置５は、システム制御装置２により画像の撮像が指示されており、かつカメラ６ａが接続されているときに当該カメラ６ａに撮像指令信号を送信し（ステップＳ１１０：ＹＥＳ，Ｓ１３０：ＹＥＳ，Ｓ１４０）、カメラ６ａが接続されていないときに撮像指令信号を送信しない（ステップＳ１３０：ＮＯ）。
As described above, each robot control device 4 of the hole inspection system 1 outputs a trigger signal when the tool T held by the corresponding robot 3 is located at the inspection work position. In addition, when the inspection program is started in the inspection processing device 5 and trigger signals are received from all the robot control devices 4, the system control device 2 transmits an imaging trigger signal to instruct the inspection processing device 5 to capture an image of the inside of the hole H. Furthermore, the inspection processing device 5 determines whether or not the system control device 2 has instructed the imaging of an image via the imaging trigger signal, that is, whether or not a trigger signal has been output by each robot control device 4 (step S110), and determines for each robot device 3 whether or not a camera 6a is connected (step S130). Then, when the system control device 2 has instructed the inspection processing device 5 to capture an image and the camera 6a is connected, the inspection processing device 5 transmits an imaging command signal to the camera 6a (steps S110: YES, S130: YES, S140), and does not transmit an imaging command signal when the camera 6a is not connected (step S130: NO).
これにより、例えば、何れかのロボット３により保持された照明ツール７により何れかの穴Ｈを照らしながら、他のロボット３により保持された撮像ツール６によって当該穴Ｈの内部を撮像するために、何れかのロボット３により撮像ツール６が保持されなくなって検査処理装置５とカメラ６ａとの接続が解除されると、当該何れかのロボット３に対して撮像指令信号が送信されなくなる。従って、撮像指令信号の送信に応じてカメラ６ａにより穴Ｈの内部が撮像されないエラー状態を生じることがなくなるので、当該エラー状態の発生により穴検査システム１が停止（システムダウン）されることはない。この結果、複数のロボット３を用いてワークＷに形成された穴Ｈの内部を検査する際に、ロボット３により保持されるツールＴの交換によって検査作業が途中で停止されてしまうのを良好に抑制することが可能になる。
As a result, for example, when the imaging tool 6 is no longer held by one of the robots 3 and the connection between the inspection processing device 5 and the camera 6a is released in order to illuminate one of the holes H with the lighting tool 7 held by one of the robots 3 while imaging the inside of the hole H with the imaging tool 6 held by the other robot 3, an imaging command signal is no longer sent to that one of the robots 3. Therefore, an error state in which the inside of the hole H is not imaged by the camera 6a in response to the transmission of the imaging command signal does not occur, and the hole inspection system 1 is not stopped (system down) due to the occurrence of the error state. As a result, when inspecting the inside of a hole H formed in a workpiece W using multiple robots 3, it is possible to effectively prevent the inspection work from being stopped midway due to the replacement of the tool T held by the robot 3.
図３は、穴検査システム１の検査処理装置５により実行され得る他の検査ルーチンを示すフローチャートである。
FIG. 3 is a flowchart showing another inspection routine that can be executed by the inspection processing device 5 of the hole inspection system 1.
図３に示す検査ルーチンの実行が指示されると、検査処理装置５は、繰り返し変数ｉを“１”に設定し（ステップＳ２００）、１番目のロボット３により保持されたツールＴが撮像ツール６であってカメラ６ａが当該検査処理装置５に接続されているか否かを判定する（ステップＳ２１０）。検査処理装置５は、例えばカメラ６ａからのＯＮ信号に基づいて、１番目のロボット３により保持されたツールＴすなわち撮像ツール６のカメラ６ａが接続されていると判定した場合（ステップＳ２１０：ＹＥＳ）、システム制御装置２から撮像トリガ信号を受信したか否かを判定する（ステップＳ２２０）。
3 is instructed to execute the inspection routine, the inspection processing device 5 sets the repetition variable i to "1" (step S200) and determines whether the tool T held by the first robot 3 is an imaging tool 6 and the camera 6a is connected to the inspection processing device 5 (step S210). If the inspection processing device 5 determines that the tool T held by the first robot 3, i.e., the camera 6a of the imaging tool 6, is connected based on, for example, an ON signal from the camera 6a (step S210: YES), it determines whether an imaging trigger signal has been received from the system control device 2 (step S220).
検査処理装置５は、システム制御装置２から撮像トリガ信号を受信していないと判定した場合（ステップＳ２２０：ＮＯ）、ステップＳ２１０の処理を再度実行する。また、検査処理装置５は、システム制御装置２から撮像トリガ信号を受信したと判定した場合（ステップＳ２１０：ＹＥＳ）、１番目のロボット３により保持されたツールＴすなわち撮像ツール６のカメラ６ａに撮像指令信号を送信する（ステップＳ２３０）。更に、検査処理装置５は、撮像指令信号に応じて穴Ｈの内部を撮像したカメラ６ａから送信される画像データを取得し、取得した画像データを図示しない記憶装置に記憶させる（ステップＳ２４０）。
If the inspection processing device 5 determines that it has not received an imaging trigger signal from the system control device 2 (step S220: NO), it executes the process of step S210 again. If the inspection processing device 5 determines that it has received an imaging trigger signal from the system control device 2 (step S210: YES), it transmits an imaging command signal to the tool T held by the first robot 3, i.e., the camera 6a of the imaging tool 6 (step S230). Furthermore, the inspection processing device 5 acquires image data transmitted from the camera 6a that has captured an image of the inside of the hole H in response to the imaging command signal, and stores the acquired image data in a storage device not shown (step S240).
ステップＳ２４０の処理の後、検査処理装置５は、繰り返し変数ｉがロボット３の総数Ｎ以上であるか否かを判定する（ステップＳ２５０）。繰り返し変数ｉがロボット３の総数Ｎ未満である場合（ステップＳ２５０：ＮＯ）、検査処理装置５は、繰り返し変数ｉをインクリメントした上で（ステップＳ２５５）、ｉ番目のロボット３についてステップＳ２１０－Ｓ２４０の処理を実行する。また、繰り返し変数ｉがロボット３の総数Ｎ以上になった場合（ステップＳ２５０：ＹＥＳ）、検査処理装置５は、上記検査プログラムを実行し、ステップＳ２４０にて取得した画像データに基づいて１つのワークＷにおけるすべての穴Ｈの内部の状態の良否を判定（診断）し（ステップＳ２６０）、図３に示す検査ルーチンを終了させる。
After processing step S240, the inspection processing device 5 determines whether the repetition variable i is equal to or greater than the total number N of robots 3 (step S250). If the repetition variable i is less than the total number N of robots 3 (step S250: NO), the inspection processing device 5 increments the repetition variable i (step S255) and executes the processing of steps S210-S240 for the i-th robot 3. If the repetition variable i is equal to or greater than the total number N of robots 3 (step S250: YES), the inspection processing device 5 executes the above-mentioned inspection program, and determines (diagnoses) the quality of the internal condition of all holes H in one workpiece W based on the image data acquired in step S240 (step S260), and ends the inspection routine shown in FIG. 3.
検査処理装置５により図３の検査ルーチンが実行される穴検査システム１においても、何れかのロボット３により撮像ツール６が保持されなくなって検査処理装置５とカメラ６ａとの接続が解除されると、当該何れかのロボット３に対して撮像指令信号が送信されなくなる。従って、撮像指令信号の送信に応じてカメラ６ａにより穴Ｈの内部が撮像されないエラー状態を生じることがなくなるので、当該エラー状態の発生により穴検査システム１が停止（システムダウン）されることはない。この結果、複数のロボット３を用いてワークＷに形成された穴Ｈの内部を検査する際に、ロボット３により保持されるツールＴの交換によって検査作業が途中で停止されてしまうのを良好に抑制することが可能になる。
Even in the hole inspection system 1 in which the inspection routine of FIG. 3 is executed by the inspection processing device 5, when the imaging tool 6 is no longer held by any of the robots 3 and the connection between the inspection processing device 5 and the camera 6a is released, the imaging command signal is no longer sent to that robot 3. Therefore, an error state in which the inside of the hole H is not imaged by the camera 6a in response to the transmission of the imaging command signal does not occur, and the hole inspection system 1 is not stopped (system down) due to the occurrence of that error state. As a result, when inspecting the inside of a hole H formed in a workpiece W using multiple robots 3, it is possible to effectively prevent the inspection work from being stopped midway due to replacement of the tool T held by the robot 3.
なお、穴検査システム１は、複数のロボット３を含むものであり、検査処理装置５は、複数のロボット３ごとに、カメラ６ａが接続されているか否かを判定するものであるが、穴検査システム１は、これに限られるものではない。すなわち、穴検査システム１は、それぞれ単一のロボット３およびロボット制御装置４を含むものであってもよい。また、穴検査システム１は、ツールＴが穴Ｈの上方の検査作業位置に位置するようにワークＷを移動させるワーク移動機構（図示省略）を含むものであってもよい。
Note that the hole inspection system 1 includes multiple robots 3, and the inspection processing device 5 determines whether or not a camera 6a is connected to each of the multiple robots 3, but the hole inspection system 1 is not limited to this. That is, the hole inspection system 1 may each include a single robot 3 and robot control device 4. The hole inspection system 1 may also include a work moving mechanism (not shown) that moves the work W so that the tool T is positioned at an inspection work position above the hole H.
更に、システム制御装置２は、検査処理装置５において検査プログラムが起動された状態で、各ロボット３のツール保持部によりツールＴが保持されたか否かに拘わらず、すべてのロボット制御装置４からトリガ信号を受信したときに、検査処理装置５に撮像トリガ信号を送信するように構成されてもよい。また、システム制御装置２は、例えば検査プログラムが起動されているときに検査処理装置５により“１”に設定されるフラグの値を当該検査処理装置５から取得し、当該フラグの値に基づいて検査プログラムが起動されているか否かを判定するように構成されてもよい。更に、システム制御装置２は、すべてのロボット３のツール保持部によりツールＴが保持されたことを検知し、かつすべてのロボット制御装置４からトリガ信号を受信したときに撮像指示フラグに１”を設定するように構成されてもよい。この場合、検査処理装置５は、システム制御装置２により設定される撮像指示フラグの値を取得して穴Ｈの内部の画像の撮像が指示されたか否かを判定するように構成されてもよい。また、検査処理装置５は、各ロボット３により保持されたツールＴが撮像ツール６であってカメラ６ａが当該検査処理装置５に接続されているか否かを常時判定し、システム制御装置２により画像の撮像が指示されているときに、判定結果に基づいて撮像指令信号をカメラ６ａに送信するように構成されてもよい。
Furthermore, the system control device 2 may be configured to transmit an imaging trigger signal to the inspection processing device 5 when it receives a trigger signal from all the robot control devices 4, regardless of whether the tool T is held by the tool holding unit of each robot 3 when the inspection program is activated in the inspection processing device 5. The system control device 2 may also be configured to obtain, for example, the value of a flag set to "1" by the inspection processing device 5 when the inspection program is activated, from the inspection processing device 5, and determine whether the inspection program is activated based on the value of the flag. The system control device 2 may also be configured to set the imaging instruction flag to "1" when it detects that the tool T is held by the tool holding unit of all the robots 3 and receives a trigger signal from all the robot control devices 4. In this case, the inspection processing device 5 may be configured to obtain the value of the imaging instruction flag set by the system control device 2 and determine whether imaging of the inside of the hole H has been instructed. The inspection processing device 5 may also be configured to constantly determine whether the tool T held by each robot 3 is an imaging tool 6 and the camera 6a is connected to the inspection processing device 5, and transmit an imaging command signal to the camera 6a based on the determination result when imaging of an image is instructed by the system control device 2.
以上説明したように、本開示の穴検査システムは、ワーク（Ｗ）に形成された穴（Ｈ）の内部の検査に用いられる穴検査システム（１）であって、カメラ（６ａ）を有する撮像ツール（６）を含む複数のツール（Ｔ）の何れか１つを保持することができるロボット（３）と、前記複数のツール（Ｔ）の何れか１つを保持するように前記ロボット（３）を制御するロボット制御装置（４）であって、前記ツール（Ｔ）が検査作業位置に位置しているときにトリガ信号を出力するロボット制御装置（４）と、前記カメラ（６ａ）により撮像された前記穴（Ｈ）の内部の画像に基づいて前記穴（Ｈ）の内部を検査するためのプログラムを実行する検査処理装置（５）であって、前記カメラ（６ａ）が接続されているか否かを判定すると共に、前記ロボット制御装置により前記トリガ信号が出力されているか否かを判定し（ステップＳ１１０，Ｓ１３０，Ｓ２１０，Ｓ２２０）、前記カメラが接続されており、かつ前記ロボット制御装置により前記トリガ信号が出力されているときに前記カメラに撮像指令信号を送信し（ステップＳ１１０：ＹＥＳ，Ｓ１３０：ＹＥＳ，Ｓ１４０，Ｓ２１０：ＹＥＳ，Ｓ２２０：ＹＥＳ，Ｓ２３０）、前記カメラが接続されていないときに前記撮像指令信号を送信しない（ステップＳ１３０：ＮＯ，Ｓ２１０：ＮＯ）検査処理装置（５）とを含むものである。
As described above, the hole inspection system disclosed herein is a hole inspection system (1) used for inspecting the inside of a hole (H) formed in a workpiece (W), and includes a robot (3) capable of holding any one of a plurality of tools (T) including an imaging tool (6) having a camera (6a), a robot control device (4) that controls the robot (3) to hold any one of the plurality of tools (T), the robot control device (4) outputting a trigger signal when the tool (T) is located at an inspection work position, and an inspection device (4) that executes a program for inspecting the inside of the hole (H) based on an image of the inside of the hole (H) captured by the camera (6a). The inspection processing device (5) determines whether the camera (6a) is connected and whether the trigger signal is being output by the robot control device (steps S110, S130, S210, S220), and transmits an imaging command signal to the camera when the camera is connected and the trigger signal is being output by the robot control device (steps S110: YES, S130: YES, S140, S210: YES, S220: YES, S230), and does not transmit the imaging command signal when the camera is not connected (steps S130: NO, S210: NO).
本開示の穴検査システムは、ワークに形成された穴の内部の検査に用いられるものであり、カメラを有する撮像ツールを含む複数のツールの何れか１つを保持することができるロボットと、複数のツールの何れか１つを保持するようにロボットを制御するロボット制御装置と、カメラにより撮像された穴の内部の画像に基づいて内部を検査するためのプログラムを実行する検査処理装置とを含む。また、ロボット制御装置は、ツールが検査作業位置に位置しているときにトリガ信号を出力する。更に、検査処理装置は、カメラが接続されているか否かを判定すると共に、ロボット制御装置によりトリガ信号が出力されているか否かを判定する。そして、検査処理装置は、カメラが接続されており、かつロボット制御装置によりトリガ信号が出力されているときにカメラに撮像指令信号を送信し、カメラが接続されていないときに撮像指令信号を送信しない。これにより、ロボットにより撮像ツールが保持されなくなって検査処理装置とカメラとの接続が解除されると、撮像指令信号が送信されなくなる。従って、撮像指令信号の送信に応じてカメラにより穴の内部が撮像されないエラー状態を生じることがなくなるので、当該エラー状態の発生により穴検査システムが停止されることはない。この結果、ロボットを用いてワークに形成された穴の内部を検査する際に、ロボットにより保持されるツールの交換によって検査作業が途中で停止されてしまうのを抑制することが可能になる。
The hole inspection system disclosed herein is used for inspecting the inside of a hole formed in a workpiece, and includes a robot capable of holding any one of a plurality of tools including an imaging tool having a camera, a robot control device that controls the robot to hold any one of the plurality of tools, and an inspection processing device that executes a program for inspecting the inside of the hole based on an image of the inside of the hole captured by the camera. The robot control device outputs a trigger signal when the tool is located at the inspection work position. Furthermore, the inspection processing device determines whether the camera is connected or not, and determines whether a trigger signal is output by the robot control device. The inspection processing device transmits an imaging command signal to the camera when the camera is connected and a trigger signal is output by the robot control device, and does not transmit the imaging command signal when the camera is not connected. As a result, when the imaging tool is no longer held by the robot and the connection between the inspection processing device and the camera is released, the imaging command signal is no longer transmitted. Therefore, an error state in which the inside of the hole is not captured by the camera in response to the transmission of the imaging command signal does not occur, and the hole inspection system is not stopped due to the occurrence of the error state. As a result, when using a robot to inspect the inside of a hole formed in a workpiece, it is possible to prevent the inspection work from being stopped midway due to replacement of the tool held by the robot.
また、前記穴検査システム（１）は、前記ロボット制御装置（４）および前記検査処理装置（５）に接続されたシステム制御装置（２）を含むものであってもよく、前記システム制御装置（２）は、前記検査処理装置（５）で前記プログラムが起動されており、かつ前記ロボット制御装置（４）から前記トリガ信号を受信しているときに、前記検査処理装置（５）に対して前記画像の撮像を指示するものであってもよく、前記検査処理装置（５）は、前記カメラ（６ａ）が接続されているか否かを判定すると共に、前記システム制御装置（２）により前記画像の撮像が指示されているか否かを判定し（ステップＳ１１０，Ｓ１３０，Ｓ２１０，Ｓ２２０）、前記カメラが接続されており、かつ前記システム制御装置により前記画像の撮像が指示されているときに前記カメラに前記撮像指令信号を送信する（ステップＳ１１０：ＹＥＳ，Ｓ１３０：ＹＥＳ，Ｓ１４０，Ｓ２１０：ＹＥＳ，Ｓ２２０：ＹＥＳ，Ｓ２３０）ものであってもよい。
The hole inspection system (1) may also include a system control device (2) connected to the robot control device (4) and the inspection processing device (5), and the system control device (2) may instruct the inspection processing device (5) to capture the image when the program is running in the inspection processing device (5) and the trigger signal is received from the robot control device (4), and the inspection processing device (5) may determine whether the camera (6a) is connected and whether the system control device (2) has instructed it to capture the image (steps S110, S130, S210, S220), and transmit the image capture command signal to the camera when the camera is connected and the system control device has instructed it to capture the image (steps S110: YES, S130: YES, S140, S210: YES, S220: YES, S230).
更に、前記システム制御装置（２）は、前記ロボット（３）により前記ツール（Ｔ）が保持されたことを検知可能であってもよく、前記ロボット（３）により前記ツール（Ｔ）が保持されたことを検知し、かつ前記ロボット制御装置（４）から前記トリガ信号を受信しているときに、前記検査処理装置（５）に対して前記画像の撮像を指示するものであってもよい。
Furthermore, the system control device (2) may be capable of detecting that the tool (T) is being held by the robot (3), and may instruct the inspection processing device (5) to capture the image when it detects that the tool (T) is being held by the robot (3) and receives the trigger signal from the robot control device (4).
また、前記穴検査システム（１）は、複数の前記ロボット（３）を含むものであってもよく、前記検査処理装置（５）は、前記複数の前記ロボット（３）ごとに、前記カメラ（６ａ）が接続されているか否かを判定するものであってもよい。
The hole inspection system (1) may also include a plurality of the robots (3), and the inspection processing device (5) may determine whether or not the camera (6a) is connected to each of the plurality of the robots (3).
なお、本開示の発明は上記実施形態に何ら限定されるものではなく、本開示の外延の範囲内において様々な変更をなし得ることはいうまでもない。更に、上記実施形態は、あくまで発明の概要の欄に記載された発明の具体的な一形態に過ぎず、発明の概要の欄に記載された発明の要素を限定するものではない。
It goes without saying that the invention disclosed herein is in no way limited to the above embodiment, and various modifications may be made within the scope of the present disclosure. Furthermore, the above embodiment is merely one specific form of the invention described in the Summary of the Invention section, and does not limit the elements of the invention described in the Summary of the Invention section.
本開示の発明は、製造産業においてワークに形成された穴の内部を検査するのに極めて有用である。
The disclosed invention is extremely useful for inspecting the inside of holes formed in workpieces in the manufacturing industry.
Claims (4)
- ワークに形成された穴の内部の検査に用いられる穴検査システムであって、
カメラを有する撮像ツールを含む複数のツールの何れか１つを保持することができるロボットと、
前記複数のツールの何れか１つを保持するように前記ロボットを制御するロボット制御装置であって、前記ツールが検査作業位置に位置しているときにトリガ信号を出力するロボット制御装置と、
前記カメラにより撮像された前記穴の内部の画像に基づいて前記穴の内部を検査するためのプログラムを実行する検査処理装置であって、前記カメラが接続されているか否かを判定すると共に、前記ロボット制御装置により前記トリガ信号が出力されているか否かを判定し、前記カメラが接続されており、かつ前記ロボット制御装置により前記トリガ信号が出力されているときに前記カメラに撮像指令信号を送信し、前記カメラが接続されていないときに前記撮像指令信号を送信しない検査処理装置と、
を備える穴検査システム。 A hole inspection system used to inspect the inside of a hole formed in a workpiece, comprising:
a robot capable of holding any one of a plurality of tools including an imaging tool having a camera;
a robot control device that controls the robot to hold any one of the plurality of tools, the robot control device outputting a trigger signal when the tool is located at an inspection operation position;
an inspection processing device that executes a program for inspecting the inside of the hole based on an image of the inside of the hole captured by the camera, the inspection processing device determining whether or not the camera is connected and determining whether or not the trigger signal is being output by the robot control device, transmitting an imaging command signal to the camera when the camera is connected and the trigger signal is being output by the robot control device, and not transmitting the imaging command signal when the camera is not connected;
A hole inspection system comprising: - 請求項１に記載の穴検査システムにおいて、
前記ロボット制御装置および前記検査処理装置に接続されたシステム制御装置を更に備え、
前記システム制御装置は、前記検査処理装置で前記プログラムが起動されており、かつ前記ロボット制御装置から前記トリガ信号を受信しているときに、前記検査処理装置に対して前記画像の撮像を指示し、
前記検査処理装置は、前記カメラが接続されているか否かを判定すると共に、前記システム制御装置により前記画像の撮像が指示されているか否かを判定し、前記カメラが接続されており、かつ前記システム制御装置により前記画像の撮像が指示されているときに前記カメラに前記撮像指令信号を送信する穴検査システム。 2. The hole inspection system according to claim 1,
a system controller connected to the robot controller and the inspection processing device;
the system control device instructs the inspection processing device to capture the image when the program is running in the inspection processing device and the trigger signal is received from the robot control device;
The inspection processing device determines whether the camera is connected and whether the system control device has instructed it to capture the image, and sends the imaging command signal to the camera when the camera is connected and the system control device has instructed it to capture the image. - 請求項２に記載の穴検査システムにおいて、
前記システム制御装置は、前記ロボットにより前記ツールが保持されたことを検知可能であり、前記ロボットにより前記ツールが保持されたことを検知し、かつ前記ロボット制御装置から前記トリガ信号を受信しているときに、前記検査処理装置に対して前記画像の撮像を指示する穴検査システム。 3. The hole inspection system according to claim 2,
The system control device is capable of detecting that the tool is being held by the robot, and when it detects that the tool is being held by the robot and receives the trigger signal from the robot control device, it instructs the inspection processing device to capture the image. - 請求項１から３の何れか一項に記載の穴検査システムにおいて、
複数の前記ロボットを備え、
前記検査処理装置は、前記複数の前記ロボットごとに、前記カメラが接続されているか否かを判定する穴検査システム。 The hole inspection system according to any one of claims 1 to 3,
A plurality of the robots are provided,
The inspection processing device is a hole inspection system that determines whether or not the camera is connected for each of the multiple robots.
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| JP2011089826A (en) * | 2009-10-21 | 2011-05-06 | Aisin Seiki Co Ltd | Internal surface defect inspection apparatus of screw hole or hole |
| JP2019104093A (en) * | 2017-12-14 | 2019-06-27 | ファナック株式会社 | Robot system |
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| JP2006105782A (en) * | 2004-10-05 | 2006-04-20 | Fanuc Ltd | Measurement device by robot vision and robot controlling method |
| JP2011089826A (en) * | 2009-10-21 | 2011-05-06 | Aisin Seiki Co Ltd | Internal surface defect inspection apparatus of screw hole or hole |
| JP2019104093A (en) * | 2017-12-14 | 2019-06-27 | ファナック株式会社 | Robot system |
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